from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        DeclareLaunchArgument('vehicleID', default_value='uav1'),
        DeclareLaunchArgument('local_host_mode', default_value= 'True'),
        DeclareLaunchArgument('multi_simulation_mode', default_value= 'False'),
        Node(
            package='sls_controller',
            executable='sls_mainController',
            name='sim',
            parameters=[{
                'vehicleID': LaunchConfiguration('vehicleID'),
                'local_host_mode': LaunchConfiguration('local_host_mode'),
                'multi_simulation_mode': LaunchConfiguration('multi_simulation_mode'),
            }]
        ),
    ])

